frontiers have only one critics represented by a pos

src/lib/GVD/DisMapIC.cpp

@@ -69,13 +69,12 @@ void DisMapIC::save_frontier_old_source(pos frontier){
   if(is_elem((*frontiers), frontier) && !is_elem(updated_frontiers, frontier)){
     pos first_source = cell_data[frontier].first_source;
     if(first_source != NULL_POS){
-      //updated_frontiers[frontier] = cell_data[frontier].first_source;
-      updated_frontiers[frontier].clear();
-      updated_frontiers[frontier].insert(first_source);
+      updated_frontiers[frontier] = cell_data[frontier].first_source;
+      //updated_frontiers[frontier].insert(first_source);
       //updated_frontiers[frontier] = cell_data[frontier].sources;
     }else{
-      //updated_frontiers[frontier] = NULL_POS;
-      updated_frontiers[frontier].clear();
+      updated_frontiers[frontier] = NULL_POS;
+      //updated_frontiers[frontier].clear();
     }
   }
 }

src/lib/GVD/DisMapIC.h

@@ -60,7 +60,7 @@ class DisMapIC{
   // these are only the FREE FRONTIERS 
   pos_set* frontiers;
   //for updating critics, old sources for frontiers are saved, new frontiers and frontiers with new critics with same distance are also saved with empty set
-  boost::unordered_map<pos, pos_set> updated_frontiers;
+  boost::unordered_map<pos, pos> updated_frontiers;
   //pos_set new_frontiers;
 
   void save_frontier_old_source(pos frontier);

src/lib/GVD/GVDIC.cpp

@@ -738,22 +738,15 @@ void GVDIC::update_possible_crit(pos_set to_add_gvd, pos_set to_erase_gvd) {
 // pcrit distance map
 ///
 void GVDIC::update_possible_crit_distance_map(){
+  
   // update frontiers
-  /*disMapIC->frontiers.insert(frontier_to_true.begin(), frontier_to_true.end());
-  for(auto it = frontier_to_false.begin(); it != frontier_to_false.end(); it++){
-    pos frontier = *it;
-    // erase frontiers, so they are no longer consider for the recognition of new critics
-    disMapIC->frontiers.erase(frontier);
-    //disMapIC->save_frontier_old_source(f_pos); should be already saved from last iteration??
-  }*/
   for(auto it = free_frontier_to_false.begin(); it != free_frontier_to_false.end(); it++){
     pos frontier = (*it); 
     cout<<"free frontier to false "<<frontier<<endl;
-    pos_set criticals_to_update = disMapIC->cell_data[frontier].sources;
-    for(auto it_crit = criticals_to_update.begin(); it_crit != criticals_to_update.end(); it_crit++){
-      pos critical = (*it_crit); 
-      cout<<"criticals to update "<<critical<<" ";
-      erase_frontier(critical, frontier);
+    pos critical_to_update = disMapIC->cell_data[frontier].first_source;
+    if(critical_to_update != NULL_POS){
+      cout<<"criticals to update "<<critical_to_update<<" ";
+      erase_frontier(critical_to_update, frontier);
     }
     cout<<endl;
   }
@@ -817,65 +810,31 @@ void GVDIC::add_frontier(pos critical, pos frontier){
 }
 
 void GVDIC::update_criticals(){
-  //old crits
-  //for each frontier_to_false and frontier changed remove frontier from old sources 
-    //delete from crit frontiers
-      // if no longer crit then
-        //delete from crit
-  //paso 1 (agregar descricpion del trello)
-  /*
-  for(auto it = frontier_to_false.begin(); it != frontier_to_false.end(); it++){
-    pos frontier = (*it); 
-    cout<<"frontier to eliminate "<<frontier<<endl;
-    pos_set criticals_to_update = disMapIC->cell_data[frontier].sources;
-    for(auto it_crit = criticals_to_update.begin(); it_crit != criticals_to_update.end(); it_crit++){
-      pos critical = (*it_crit); 
-      cout<<"critical to update "<<critical<<endl;
-      erase_frontier(critical, frontier);
-    }
-  }*/
 
   for(auto it = disMapIC->updated_frontiers.begin(); it !=  disMapIC->updated_frontiers.end(); it++){
     pos frontier = it->first;
-    pos_set old_criticals = it->second;
-    if(!old_criticals.empty()){
-      cout<<"frontier to erase from old source "<<frontier<<endl;
-    }
+    pos old_critical = it->second;
     // delete frotier from old critic
-    for(auto it_old_crit = old_criticals.begin(); it_old_crit != old_criticals.end(); it_old_crit++){
-      pos critical = (*it_old_crit); 
-      cout<<"criticals to update "<<critical<<" ";
-      erase_frontier(critical, frontier);
+    if(old_critical != NULL_POS){
+      cout<<"frontier to erase from old source "<<frontier<<endl;
+      cout<<"criticals to update "<<old_critical<<" ";
+      erase_frontier(old_critical, frontier);
     }
     cout<<endl;
 
     // add or update (change new criticals name)
-    pos_set new_criticals = disMapIC->cell_data[frontier].sources;
-    if(!new_criticals.empty()){
+    pos new_critical = disMapIC->cell_data[frontier].first_source;
+    if(new_critical != NULL_POS){
       cout << "frontier to add to new source " << frontier << endl;
-    }
-    for(auto it_new_crit = new_criticals.begin(); it_new_crit != new_criticals.end(); it_new_crit++){
-      pos critical = (*it_new_crit);
-      cout<<"criticals to update "<<critical<<" ";
-      add_frontier(critical, frontier);
-      
-      /*if(!is_elem(criticals, critical)){
-        criticals[critical] = critical_info2();
-        criticals[critical].mind_f = pair(pos(),MAXFLOAT);
-      }
-      
-      criticals[critical].frontiers.insert(frontier);
-      float frontier_dist = disMapIC->cell_data[frontier].dist;
-      
-      if(criticals[critical].mind_f > frontier_dist){
-        criticals[critical].mind_f = frontier_dist;
-      }*/
+      cout<<"criticals to update "<<new_critical<<" ";
+      add_frontier(new_critical, frontier);
     }
     cout<<endl;
     
   }
 
   update_criticals_mind_f();
+
   for(auto it = criticals.begin(); it != criticals.end(); it++){
     cout<<(*it).first<<" fronteras: ";
     for(auto it_f = (*it).second.frontiers.begin();it_f != (*it).second.frontiers.end(); it_f++){
@@ -883,12 +842,6 @@ void GVDIC::update_criticals(){
     }
     cout<<endl;
   }
-
-  //delete from old_source frontier the ones in frontier_to_false
-
-  //new crits
-  //for each forntier that changed
-    //add crit or update crit
 }
 
 //////////